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Handover-Sim

Handover-Sim is a Python-based simulation environment and benchmark for human-to-robot object handovers. The environment and benchmark were initially described in an ICRA 2022 paper:

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
IEEE International Conference on Robotics and Automation (ICRA), 2022
[ paper ] [ video ] [ arXiv ] [ project site ]

Citing Handover-Sim

@INPROCEEDINGS{chao:icra2022,
  author    = {Yu-Wei Chao and Chris Paxton and Yu Xiang and Wei Yang and Balakumar Sundaralingam and Tao Chen and Adithyavairavan Murali and Maya Cakmak and Dieter Fox},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  title     = {{HandoverSim}: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers},
  year      = {2022},
}

License

Handover-Sim is released under the BSD 3-Clause License.

Acknowledgements

This repo is based on a Python project template created by Rowland O'Flaherty.

Prerequisites
Installation
Running Demos
Benchmarking Baselines
Evaluation
Reproducing ICRA 2022 Results
Rendering from Result and Saving Rendering

Prerequisites

This code is tested with Python 3.8 on Ubuntu 20.04.

Installation

For good practice for Python package management, it is recommended to install the package into a virtual environment (e.g., virtualenv or conda).

Clone the repo with --recursive and and cd into it:

git clone --recursive https://github.com/NVlabs/handover-sim.git
cd handover-sim

Install handover-sim and submodule mano_pybullet as Python packages:
```
pip install -e .
pip install --no-deps -e ./mano_pybullet
```
Download MANO models and code (mano_v1_2.zip) from the MANO website and place the file under handover/data/. Unzip with:
```
cd handover/data
unzip mano_v1_2.zip
cd ../..
```
This will extract a folder handover/data/mano_v1_2/.
Download the DexYCB dataset.

Option 1: Download cached dataset: (recommended)
1. Download dex-ycb-cache-20220323.tar.gz (507M) and place the file under handover/data/. Extract with:
```
cd handover/data
tar zxvf dex-ycb-cache-20220323.tar.gz
cd ../..
```
  This will extract a folder handover/data/dex-ycb-cache/.
Option 2: Download full dataset and cache the data:
1. Download the DexYCB dataset from the DexYCB project site.
2. Set the environment variable for dataset path:
```
export DEX_YCB_DIR=/path/to/dex-ycb
```
  $DEX_YCB_DIR should be a folder with the following structure:
```
├── 20200709-subject-01/
├── 20200813-subject-02/
├── ...
├── calibration/
└── models/
```
3. Cache the dataset:
```
python handover/data/cache_dex_ycb_data.py
```
  The cached dataset will be saved to handover/data/dex-ycb-cache/.
Compile assets.
1. Download assets-3rd-party-20220511.tar.gz (155M) and place the file under handover/data/. Extract with:
```
cd handover/data
tar zxvf assets-3rd-party-20220511.tar.gz
cd ../..
```
  This will extract a folder handover/data/assets/ with 3rd party assets. See handover/data/README.md for the source of these assets.
2. Compile assets:
```
./handover/data/compile_assets.sh
```
  The compiled assets will be saved to handover/data/assets/.

Running Demos

Running a handover environment:
```
python examples/demo_handover_env.py \
  SIM.RENDER True
```
<img src="./docs/examples-demo_handover_env.gif">
Running a planned trajectory:
```
python examples/demo_trajectory.py \
  SIM.RENDER True
```
<img src="./docs/examples-demo_trajectory.gif">
Running a benchmark wrapper:
```
python examples/demo_benchmark_wrapper.py \
  SIM.RENDER True \
  BENCHMARK.DRAW_GOAL True
```
<img src="./docs/examples-demo_benchmark_wrapper.gif">
This will run the same trajectory as in demo_trajectory.py above but will also draw the goal region in the visualizer window and print out the benchmark status in the terminal.

Benchmarking Baselines

We benchmarked three baselines on Handover-Sim:

OMG Planner - GitHub
Yang et al. ICRA 2021 - arXiv
GA-DDPG - GitHub

OMG Planner	Yang et al. ICRA 2021
<img src="./docs/examples-run_benchmark_omg_planner.gif">	<img src="./docs/examples-run_benchmark_yang_icra2021.gif">

GA-DDPG (hold)	GA-DDPG (w/o hold)
<img src="./docs/examples-run_benchmark_gaddpg_hold.gif">	<img src="./docs/examples-run_benchmark_gaddpg_wo_hold.gif">

As described in the paper Sec. IV "Training and Evaluation Setup", we divide the data into different setups (s0, s1, s2, s3) and splits (train, val, test). We benchmarked these baselines on the test split of each setup.

Below we provide instructions for setting up and running benchmark for these baselines.

Yang et al. ICRA 2021

We have included our implementation of Yang et al. ICRA 2021 in this repo. The following command will run the benchmark on the test split of s0:
```
python examples/run_benchmark_yang_icra2021.py \
  SIM.RENDER True \
  BENCHMARK.SETUP s0
```
This will open a visualizer window, go through each handover scene in the split, and execute the actions generated from the policy. To run on other setups, replace s0 with s1, s2, and s3.
The command above is mostly just for visualization purposes, and thus does not save the benchmark result. To save the result for evaluation later, set BENCHMARK.SAVE_RESULT to True, and remove SIM.RENDER to run headless if you don't need the visualizer window:
```
python examples/run_benchmark_yang_icra2021.py \
  BENCHMARK.SETUP s0 \
  BENCHMARK.SAVE_RESULT True
```
The result will be saved to a new folder results/*_yang-icra2021_*_test/.
Once the job finishes, you are ready to run evaluation and see the result. See the Evaluation section.

OMG Planner

First, you need to install OMG-Planner. See examples/README.md for our documentation for installation steps.
Once installed, you can run the benchmark on the test split of s0 with the path to OMG-Planner (OMG_PLANNER_DIR):
```
OMG_PLANNER_DIR=OMG-Planner python examples/run_benchmark_omg_planner.py \
  SIM.RENDER True \
  BENCHMARK.SETUP s0
```
Like in Yang et al. ICRA 2021, this will open a visualizer window, go through each handover scene in the split, and execute the actions generated from the policy. To run on other setups, replace s0 with s1, s2, and s3.
Likewise, the command above is mostly just for visualization purposes, and thus does not save the benchmark result. To save the result for evaluation later, set BENCHMARK.SAVE_RESULT to True, and remove SIM.RENDER to run headless if you don't need the visualizer window:
```
OMG_PLANNER_DIR=OMG-Planner python examples/run_benchmark_omg_planner.py \
  BENCHMARK.SETUP s0 \
  BENCHMARK.SAVE_RESULT True
```
The result will be saved to a new folder results/*_omg-planner_*_test/.
Again, once the job finishes, you are ready to run evaluation and see the result. See the Evaluation section.

GA-DDPG

First, you need to install GA-DDPG. See examples/README.md for our documentation for installation steps.
Once installed, you can run the benchmark. As described in the paper Sec. V "Baselines", we benchmarked two variants of this baseline:
- Hold until the human hand stops as in the OMG Planner ("GA-DDPG hold")
- Without hold ("GA-DDPG w/o hold")
With the path to GA-DDPG (GADDPG_DIR), you can now run for "GA-DDPG hold" on the test split of s0 with:
```
GADDPG_DIR=GA-DDPG CUDA_VISIBLE_DEVICES=0 python examples/run_benchmark_gaddpg_hold.py \
  SIM.RENDER True \
  ENV.ID HandoverHandCameraPointStateEnv-v1 \
  BENCHMARK.SETUP s0
```
and for "GA-DDPG w/o hold" on the test split of s0 with:
```
GADDPG_DIR=GA-DDPG CUDA_VISIBLE_DEVICES=0 python examples/run_benchmark_gaddpg_wo_hold.py \
  SIM.RENDER True \
  ENV.ID HandoverHandCameraPointStateEnv-v1 \
  BENCHMARK.SETUP s0
```
Like in Yang et al. ICRA 2021, this will open a visualizer window, go through each handover scene in the split, and execute the actions generated from the policy. To run on other setups, replace s0 with s1, s2, and s3.
Note that different than in Yang et al. ICRA 2021 and OMG Planner, we explicitly set ENV.ID to HandoverHandCameraPointStateEnv-v1 in the commands above.
- HandoverHandCameraPointStateEnv-v1 specifies a different environemnt than the default HandoverStateEnv-v1 used in Yang et al. ICRA 2021 and OMG Planner.
- HandoverHandCameraPointStateEnv-v1 provides the point cloud input used in GA-DDPG, while HandoverStateEnv-v1 provides ground-truth state information of which Yang et al. ICRA 2021 and OMG Planner can directly consume.
Likewise, the command above is mostly just for visualization purposes, and thus does not save the benchmark result. To save the result for evaluation later, set BENCHMARK.SAVE_RESULT to True, and remove SIM.RENDER to run headless if you don't need the visualizer window. For "GA-DDPG hold", run:
```
GADDPG_DIR=GA-DDPG CUDA_VISIBLE_DEVICES=0 python examples/run_benchmark_gaddpg_hold.py \
  ENV.ID HandoverHandCameraPointStateEnv-v1 \
  BENCHMARK.SETUP s0 \
  BENCHMARK.SAVE_RESULT True
```
and for "GA-DDPG w/o hold", run:
```
GADDPG_DIR=GA-DDPG CUDA_VISIBLE_DEVICES=0 python examples/run_benchmark_gaddpg_wo_hold.py \
  ENV.ID HandoverHandCameraPointStateEnv-v1 \
  BENCHMARK.SETUP s0 \
  BENCHMARK.SAVE_RESULT True
```
The result will be saved to a new folder results/*_ga-ddpg-hold_*_test/ for "GA-DDPG hold" and results/*_ga-ddpg-wo-hold_*_test/ for "GA-DDPG w/o hold".
Again, once the job finishes, you are ready to run evaluation and see the result. See the Evaluation section.

Evaluation

To evaluate the result of a baseline, all you need is the result folder generated from running the benchmark. For example, if your result folder is results/2022-02-28_08-57-34_yang-icra2021_s0_test/, run the following command:

python examples/evaluate_benchmark.py \
  --res_dir results/2022-02-28_08-57-34_yang-icra2021_s0_test

You should see an output similar to the following in the terminal:

2022-06-03 16:13:46: Running evaluation for results/2022-02-28_08-57-34_yang-icra2021_s0_test
2022-06-03 16:13:47: Evaluation results:
|  success rate   |    mean accum time (s)    |                    failure (%)                     |
|      (%)        |  exec  |  plan  |  total  |  hand contact   |   object drop   |    timeout     |
|:---------------:|:------:|:------:|:-------:|:---------------:|:---------------:|:--------------:|
| 64.58 ( 93/144) | 4.864  | 0.036  |  4.900  | 17.36 ( 25/144) | 11.81 ( 17/144) | 6.25 (  9/144) |
2022-06-03 16:13:47: Printing scene ids
2022-06-03 16:13:47: Success (93 scenes):
---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---
  0    1    2    3    4    5    6    7    8    9   10   12   13   15   16   17   18   19   21   22
 23   25   26   27   28   30   33   34   35   36   37   38   42   43   46   49   50   53   54   56
 59   60   62   63   64   66   68   69   70   71   72   77   81   83   85   87   89   91   92   93
 94   95   96   98  103  106  107  108  109  110  111  112  113  114  115  116  117  120  121  123
125  126  127  128  130  131  132  133  137  138  139  141  143
---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---
2022-06-03 16:13:47: Failure - hand contact (25 scenes):
---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---
 11   14   20   29   39   40   41   44   45   47   51   55   57   58   65   67   74   80   82   88
102  105  118  124  136
---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---
2022-06-03 16:13:47: Failure - object drop (17 scenes):
---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---
 24   31   32   52   61   78   79   84   86   97  101  104  119  122  134  140  142
---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---  ---
2022-06-03 16:13:47: Failure - timeout (9 scenes):
---  ---  ---  ---  ---  ---  ---  ---  ---
 48   73   75   76   90   99  100  129  135
---  ---  ---  ---  ---  ---  ---  ---  ---
2022-06-03 16:13:47: Evaluation complete.

The same output will also be logged to results/2022-02-28_08-57-34_yang-icra2021_s0_test/evaluate.log.

To benchmark and evaluate your own method, you need to first generate a result folder in the same format.
- It is advisable to use the BenchmarkRunner class in handover/benchmark_runner.py to benchmark and generate the result folder for your method.
- You can follow the example of examples/run_benchmark_omg_planner.py.

Reproducing ICRA 2022 Results

We provide the result folders of the benchmarks reported in the ICRA 2022 paper. You can run evaluation on these files and reproduce the exact numbers in the paper.

To run the evaluation, you need to first download the ICRA 2022 results.

./results/fetch_icra2022_results.sh

This will extract a folder results/icra2022_results/ containing the result folders.

You can now run evaluation on these result folders. For example, for Yang et al. ICRA 2021 on s0, run:

python examples/evaluate_benchmark.py \
  --res_dir results/icra2022_results/2022-02-28_08-57-34_yang-icra2021_s0_test

You should see the exact same result shown in the example of the Evaluation section.

The full set of evaluation commands can be found in examples/all_icra2022_results_eval.sh.

Rendering from Result and Saving Rendering

While you can run a benchmark with a visualizer window by adding SIM.RENDER True (e.g., see Yang et al. ICRA 2021), you can also run headless and re-render the rollouts with a visualizer window after the fact—as long as you saved the result with BENCHMARK.SAVE_RESULT True.

For example, if your result folder is results/2022-02-28_08-57-34_yang-icra2021_s0_test/, run the following command:
```
python examples/render_benchmark.py \
  --res_dir results/2022-02-28_08-57-34_yang-icra2021_s0_test \
  SIM.RENDER True
```
This will run the same benchmark environment with a policy that simply loads and executes the actions from the saved result.

Consequently, if you have downloaded the ICRA 2022 results following the Reproducing ICRA 2022 Results Section, you can also try rendering from one of the downloaded result folders, for example:
```
python examples/render_benchmark.py \
  --res_dir results/icra2022_results/2022-02-28_08-57-34_yang-icra2021_s0_test \
  SIM.RENDER True
```
This allows you to visualize the rollouts in the ICRA 2022 results.
Apart from the visualizer window, you can also re-render the rollouts with an offscreen renderer and further save the rendered frame into .jpg files. These .jpg files can later further be converted into .mp4 video files for offline visualization.

For example, if your result folder is results/2022-02-28_08-57-34_yang-icra2021_s0_test/, run the following command:
```
python examples/render_benchmark.py \
  --res_dir results/2022-02-28_08-57-34_yang-icra2021_s0_test \
  ENV.RENDER_OFFSCREEN True \
  BENCHMARK.SAVE_OFFSCREEN_RENDER True
```
This will save the offscreen rendered frames to folders named after the scene ID (e.g., 000/, 001/, etc.) under results/2022-02-28_08-57-34_yang-icra2021_s0_test/. Each folder contains the rendered frames of one scene.

By default, the offscreen rendering will use Bullet's CPU based TinyRenderer, which may take a while to run. If you have a GPU, you may speed up rendering by using Bullet's hardware accelerated OpenGL rendering with EGL. If your result folder is results/2022-02-28_08-57-34_yang-icra2021_s0_test/, you can run:
```
./examples/render_benchmark_egl.sh results/2022-02-28_08-57-34_yang-icra2021_s0_test
```
Warning: Rendering frames for a full test split with hundreds of scenes may still take a couple of hours even with the GPU based OpenGL rendering.

Finally, once you have finished rendering the .jpg files for all the scenes, you can easily convert .jpg to .mp4 with ffmpeg. First, install ffmpeg if you have not, for example, with sudo apt install ffmpeg.

If your result folder is results/2022-02-28_08-57-34_yang-icra2021_s0_test/, you can then run:
```
./examples/generate_mp4_from_jpg.sh results/2022-02-28_08-57-34_yang-icra2021_s0_test
```
This will generate .mp4 files named after the scene ID (e.g., 000.mp4, 001.mp4, etc.) under results/2022-02-28_08-57-34_yang-icra2021_s0_test/. Each .mp4 is converted from the .jpg files of one scene.
<img src="./docs/examples-render_benchmark-1.gif"> <img src="./docs/examples-render_benchmark-2.gif">